本文整理汇总了C#中BulletXNA.BulletCollision.CollisionObject.getWorldTransform方法的典型用法代码示例。如果您正苦于以下问题：C# CollisionObject.getWorldTransform方法的具体用法？C# CollisionObject.getWorldTransform怎么用？C# CollisionObject.getWorldTransform使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类BulletXNA.BulletCollision.CollisionObject的用法示例。
在下文中一共展示了CollisionObject.getWorldTransform方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: ProcessCollision
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
//resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.GetPersistentManifold().ClearManifold();
ConvexShape min0 = body0.GetCollisionShape() as ConvexShape;
ConvexShape min1 = body1.GetCollisionShape() as ConvexShape;
IndexedVector3 normalOnB;
IndexedVector3 pointOnBWorld;
#if !BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE) && (min1.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE))
{
CapsuleShape capsuleA = min0 as CapsuleShape;
CapsuleShape capsuleB = min1 as CapsuleShape;
//IndexedVector3 localScalingA = capsuleA.GetLocalScaling();
//IndexedVector3 localScalingB = capsuleB.GetLocalScaling();
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float dist = CapsuleCapsuleDistance(out normalOnB, out pointOnBWorld, capsuleA.GetHalfHeight(), capsuleA.GetRadius(),
capsuleB.GetHalfHeight(), capsuleB.GetRadius(), capsuleA.GetUpAxis(), capsuleB.GetUpAxis(),
body0.GetWorldTransform(), body1.GetWorldTransform(), threshold);
if (dist < threshold)
{
Debug.Assert(normalOnB.LengthSquared() >= (MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON));
resultOut.AddContactPoint(ref normalOnB, ref pointOnBWorld, dist);
}
resultOut.RefreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0.getWorldTransform(),body1.getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
ClosestPointInput input = ClosestPointInput.Default();
using (GjkPairDetector gjkPairDetector = BulletGlobals.GjkPairDetectorPool.Get())
{
gjkPairDetector.Initialize(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = float.MaxValue;
}
else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0.GetMargin() + min1.GetMargin() + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
//input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
if (min0.IsPolyhedral() && min1.IsPolyhedral())
{
DummyResult dummy = new DummyResult();
PolyhedralConvexShape polyhedronA = min0 as PolyhedralConvexShape;
PolyhedralConvexShape polyhedronB = min1 as PolyhedralConvexShape;
if (polyhedronA.GetConvexPolyhedron() != null && polyhedronB.GetConvexPolyhedron() != null)
{
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float minDist = float.MinValue;
IndexedVector3 sepNormalWorldSpace = new IndexedVector3(0, 1, 0);
bool foundSepAxis = true;
//.........这里部分代码省略.........